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Copter: correct toymode compilation for recent compass changes

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This commit is contained in:
Peter Barker 2020-02-27 20:01:53 +11:00 committed by Randy Mackay
parent 136d0cce0b
commit 9f87962cf4
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/toy_mode.cpp
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@ -410,7 +410,7 @@ void ToyMode::update()
const uint8_t disarm_limit = copter.flightmode->has_manual_throttle()?TOY_LAND_MANUAL_DISARM_COUNT:TOY_LAND_DISARM_COUNT;
if (throttle_low_counter >= disarm_limit) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle disarm");
copter.arming.disarm(AP_Arming::Method::TLANDTHROTTLE);
copter.arming.disarm(AP_Arming::Method::TOYMODELANDTHROTTLE);
}
} else {
throttle_low_counter = 0;
@ -569,7 +569,7 @@ void ToyMode::update()
case ACTION_DISARM:
if (copter.motors->armed()) {
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: Force disarm");
copter.arming.disarm(AP_Arming::Method::TLANDFORCE);
copter.arming.disarm(AP_Arming::Method::TOYMODELANDFORCE);
}
break;
@ -1063,9 +1063,10 @@ void ToyMode::arm_check_compass(void)
Vector3f offsets = copter.compass.get_offsets();
float field = copter.compass.get_field().length();
char unused_compass_configured_error_message[20];
if (offsets.length() > copter.compass.get_offsets_max() ||
field < 200 || field > 800 ||
!copter.compass.configured()) {
!copter.compass.configured(unused_compass_configured_error_message, ARRAY_SIZE(unused_compass_configured_error_message))) {
if (copter.compass.get_learn_type() != Compass::LEARN_INFLIGHT) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: enable compass learning");
copter.compass.set_learn_type(Compass::LEARN_INFLIGHT, false);